Lightweight Collision Detection Algorithm in Web3D Robot Simulation Platform

In the field of the robotic industry, traditional robot simulation platforms require users to install specific software and to be equipped with high-performance computers. This paper designs a lightweight collision detection algorithm that is able to run smoothly from a web browser with a novel simulation platform for a humanoid robot. The proposed algorithm is based on the Morton code for bounding volume hierarchies, which uses the triangular patches detection algorithm to improve the accuracy of detection. Through the presented method, we can use the platform to edit the robot on any browser supporting device without installing extra plug-ins.